/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "dma.h"
#include "i2c.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "oled.h"
#include "inv_mpu.h"
#include "inv_mpu_dmp_motion_driver.h"
#include "mpu6050.h"
#include "stdio.h"
#include "string.h"
#include "pid.h"
#include "SR04.h"
#include "remote.h"
#include "data.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
//char display_buf[20];
uint8_t angle_check;
uint8_t motor_check;
uint8_t display_buf[20];

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_I2C1_Init();
  MX_TIM3_Init();
  MX_TIM2_Init();
  MX_TIM4_Init();
  MX_TIM1_Init();
  MX_USART3_UART_Init();
  /* USER CODE BEGIN 2 */
  OLED_Init();
  OLED_Clear();
  // pwm输出初始化
  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_4);
  // 编码器读取初始化
  HAL_TIM_Encoder_Start(&htim2, TIM_CHANNEL_ALL);
  HAL_TIM_Encoder_Start(&htim4, TIM_CHANNEL_ALL);
  // 开启定时器1中断
  HAL_TIM_Base_Start_IT(&htim1);
  // 关闭定时器3更新中断
  __HAL_TIM_DISABLE_IT(&htim3, TIM_IT_UPDATE);
  // 开启蓝牙串口接收
  HAL_UART_Receive_IT(&huart3, &rx_data, 1);



  MPU_Init();
  mpu_dmp_init();
  // 必须在陀螺仪初始化成功后再开启中断
  control_cmd = 1;	// 允许执行control函数
  //sprintf(display_buf, "MPU_Init!");
  //OLED_ShowString(0, 0, (uint8_t *)display_buf, 16);

  // 测试
/*
  uint32_t i = 0;
  __HAL_TIM_SetCounter(&htim3, 0);
  HAL_TIM_Base_Start(&htim3);
  Control();
  sprintf(display_buf, "distance:%d ", Rencoder);
  //OLED_ShowString(0, 0, (uint8_t *)display_buf, 16);
  //sprintf(display_buf, "pitch:%.2f   ", pitch);
  //OLED_ShowString(0, 2, (uint8_t *)display_buf, 16);
  //sprintf(display_buf, "roll:%d  ", Lencoder);
  //OLED_ShowString(0, 4, (uint8_t *)display_buf, 16);
  //Get_Distance();
  HAL_TIM_Base_Stop(&htim3);
  i = __HAL_TIM_GetCounter(&htim3) / 1000;
*/

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
	// 前五秒不断更新angle_mid的值
	if (sys_tick >= 9 * 10 * 1000 && sys_tick <= 10 * 10 * 1000) Get_Angle_Mid();
    // 测试串口联通
    // char pdata[] = "hello";
    // HAL_UART_Transmit_IT(&huart3, (uint8_t*)pdata, sizeof(pdata));
	// mpu_dmp_get_data(&pitch, &roll, &yaw);
	//sprintf(display_buf, "stright_p:%d ", stright_plus);
	//OLED_ShowString(0, 0, (uint8_t *)display_buf, 16);
	//sprintf(display_buf, "encoder:%d   %d  ", Lencoder, Rencoder);
	//OLED_ShowString(0, 6, (uint8_t *)display_buf, 16);
	//sprintf(display_buf, "med_angle:.2f", med_angle);
	//OLED_ShowString(0, 4, (uint8_t *)display_buf, 16);
	//sprintf(display_buf, "roll:%.2f ", roll);
	//OLED_ShowString(0, 4, (uint8_t *)display_buf, 16);
	//sprintf(display_buf, "turn_p:%d  ", turn_plus);
	//OLED_ShowString(0, 2, (uint8_t *)display_buf, 16);
	if (angle_check == 1)
	{
		Angle_Check();
		angle_check = 0;
	}
	if (motor_check == 1)
	{
		Motor_Check();
		motor_check = 0;
	}
	// Get_Distance();
	//sprintf(display_buf, "yaw:%.2f   ", yaw);
	//OLED_ShowString(0, 6, (uint8_t *)display_buf, 16);
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

// 蓝牙串口回调函数
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
	if (huart == &huart3)
	{
		// 遥控信号解析
		Remote_Callback();
	}
}

// 定时器定时中断回调函数
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
	if (htim == &htim1)
	{
		// 计数器更新，0.1ms
		sys_tick++;
		// 每100ms记录一次数据（置中断标志位，在tim3中执行）
		if (sys_tick % 1000 == 0)
		{
			// 开启更新中断，并手动置中断事件
			__HAL_TIM_ENABLE_IT(&htim3, TIM_IT_UPDATE);
			HAL_TIM_GenerateEvent(&htim3, TIM_EVENTSOURCE_UPDATE);
		}
		// 每500ms进行一次角度记录
		if (sys_tick % 3000 == 0)
		{
			angle_check = 1;
			motor_check = 1;
		}
	}
	// tim3采用软件启动中断，通过tim1中软件的调用，会执行tim3的函数
	if (htim == &htim3)
	{
		// 记录数据
		Note_Data();
		// 手动关闭中断事件更新
		__HAL_TIM_DISABLE_IT(&htim3, TIM_IT_UPDATE);
	}
}

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
